function dx=Plant(t,x,flag,para)
dx=0;

ut=para(1);
x1=para(2);
x2=para(3);
fx=[x2;-2*x1-x2+exp(x1)];
g1=[0;1];
g2=[1;0];
l=[6,0];
xd=[x1;x2];

dx=-l*g2*x(1)-l*(g2*l*xd+fx+g1*ut);
